Collision Visualization Performance Issues with Complex URDF Model in Genesis

[coghks625]

Hello, I have encountered some issues while uploading a complex URDF file to Genesis for visualization. Initially, the collision model appeared as a simplified, bulky shape. To address this, I changed the configuration by setting convexify=False.

My current hardware setup includes an RTX 4090 GPU and 32GB of RAM. However, due to the complexity of the structure, I experienced a memory error from NumPy, indicating insufficient RAM. I then tried running the process on a server equipped with 256GB of RAM, and found that about 60GB of RAM was required to handle the task.

Additionally, despite configuring GPU support, I noticed that the process heavily utilized CPU resources, while the GPU remained largely underutilized.

Is this the expected behavior for handling complex URDF models in Genesis?
Are there any settings I can modify to offload more of the computational workload from the CPU to the GPU?
Interestingly, I observed that the FPS was higher when running the process on the CPU instead of the GPU. Why might this be the case during the visualization process?
I would appreciate your guidance on these issues. Thank you!